摘要
飞机大部件对接装配一般通过多个定位器协调运动来实现,由于支撑需求,定位器存在驱动冗余,驱动方式存在多个方案,需要对不同方案进行分析和优选。文章分析定位器的空间布置和驱动方式对装配对接精度和效率的影响,将对接系统抽象为对接并联机构,采用螺旋理论分析了不同定位器布置和驱动方式的运动自由度,计算了不同驱动方式对位姿调整误差的影响。分析和比较了冗余驱动度小于2的几种典型驱动方式,得出了最优方案,为飞机大部件对接装配定位器的设计和控制提供了理论基础。
The assembly of large aircraft components such as fuselage and wing are always achieved by coordinated movements of several positioners. Because of the need of supporting, there are actuating redundancy and several kinds of actuating distributions. The assembly system is abstracted as a parallel mechanism. The DOF is analysed by screw theory and pose adjustment error is calculated according to different positioners＇ spatial arrangement and actuating distribution. Several typical actuating distributions are analysed and compared with the experimental platform condi- tions. The paper provides a method for actuating analysis, and a strong basis for the design and controlling of assembly positioner.
出处
《机械设计与研究》
CSCD
北大核心
2012年第6期37-40,45,共5页
Machine Design And Research
基金
国家自然科学基金资助项目(51075259)
教育部新世纪优秀人才支持计划(NCET-10-0579)
上海市科委重点科技攻关专项资助项目(10111100203)
关键词
飞机大部件
对接机构
螺旋理论
驱动分布
运动自由度
位姿调整误差
large aircraft components
assembly mechanism
screw theory
actuating distribution
DOF
pose adjustment error
